CN114923548A - Waist carrying assisting exoskeleton heavy object detection device - Google Patents
Waist carrying assisting exoskeleton heavy object detection device Download PDFInfo
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- CN114923548A CN114923548A CN202210555164.5A CN202210555164A CN114923548A CN 114923548 A CN114923548 A CN 114923548A CN 202210555164 A CN202210555164 A CN 202210555164A CN 114923548 A CN114923548 A CN 114923548A
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- 238000001514 detection method Methods 0.000 title claims abstract description 32
- 230000001681 protective effect Effects 0.000 claims description 19
- 238000009434 installation Methods 0.000 claims description 16
- 230000003014 reinforcing effect Effects 0.000 claims description 11
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 230000006978 adaptation Effects 0.000 claims description 3
- 239000011888 foil Substances 0.000 description 10
- 230000000694 effects Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 238000010030 laminating Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 210000001364 upper extremity Anatomy 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 230000036961 partial effect Effects 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
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- 230000008569 process Effects 0.000 description 1
- 230000002829 reductive effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G3/00—Weighing apparatus characterised by the use of elastically-deformable members, e.g. spring balances
- G01G3/12—Weighing apparatus characterised by the use of elastically-deformable members, e.g. spring balances wherein the weighing element is in the form of a solid body stressed by pressure or tension during weighing
- G01G3/14—Weighing apparatus characterised by the use of elastically-deformable members, e.g. spring balances wherein the weighing element is in the form of a solid body stressed by pressure or tension during weighing measuring variations of electrical resistance
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Abstract
The invention discloses a waist carrying assisting exoskeleton weight detection device, which comprises: the back main body is used for fitting the back of a wearer, two ends of the back main body are detachably connected with shoulder support rods, the shoulder support rods are matched with the shoulders of the wearer and are used for connecting a traction rope, the back of the back main body is detachably connected with a main control box, a controller is arranged in the main control box, and the controller is electrically connected with an external driving device; the weight detection module comprises a strain gauge which is bonded in the middle area of the circular arc of the shoulder supporting rod.
Description
Technical Field
The invention relates to the technical field of exoskeleton, in particular to a waist carrying assisting exoskeleton weight detection device.
Background
The exoskeleton robot can be regarded as a wearable robot to a certain extent, and the novel mechanical-electrical integrated device integrates the robot technologies such as bionics, sensors, control strategies, mobile computing and the like. Not only can provide basic functions such as support protection for the wearer, can also continuously provide the helping hand, strengthen the wearer's function, and then accomplish some specific tasks under the control of wearer.
The waist carrying assisting exoskeleton can assist in carrying heavy objects and reduce pressure of heavy objects on a user aiming at the problems of high force consumption, low safety and the like of the wearer caused by high-strength load carrying operation and heavy object carrying in the industrial field. Waist carrying assisting exoskeletons are generally used for assisting in the process of bending down or rising up, and the weight of a carried object is transmitted to the back, the waist or the ground through some flexible or rigid mechanisms, so that the load of upper limbs is reduced.
However, some existing waist carrying assisting exoskeletons lack detection of the weight of the carried object or have defects in detection modes. Lack of weight detection can result in excessive drive assembly output torque during idle uprisal, causing discomfort and even danger to the wearer. When the person stands up with the load, the magnitude of the output torque can not be intelligently adjusted according to the weight of a heavy object, and adverse consequences such as unobvious power-assisted feeling, overlarge power-assisted force, discomfort of a wearer, energy waste and the like can be caused. And partial waist carrying assisting exoskeleton detects a heavy object at the flexible connection part through the tension sensor, so that the weight of the flexible connection part is increased, and the tension sensor cable is easy to pull in use, so that the detection accuracy is influenced.
Disclosure of Invention
The invention aims to provide a waist carrying assisting exoskeleton weight detection device, which is used for solving the problems in the prior art, acquiring the weight of a carried object, intelligently controlling the output torque of an external driving assembly and improving the accuracy of the acquired weight of the carried object.
In order to achieve the purpose, the invention provides the following scheme: the invention provides a waist carrying assisting exoskeleton weight detection device, which comprises:
the back main body is used for fitting the back of a wearer, two ends of the back main body are detachably connected with shoulder support rods, the shoulder support rods are matched with the shoulders of the wearer and are used for connecting traction ropes, the back of the back main body is detachably connected with a main control box, a controller is arranged in the main control box, and the controller is electrically connected with an external driving device;
two heavy object detect the module, two the heavy object detect the module respectively with two the shoulder vaulting pole can be dismantled and be connected, the heavy object detect the module with controller electric connection, the heavy object detects the module and includes the foil gage, the foil gage bonds in shoulder vaulting pole circular arc middle part is regional.
Preferably, the weight detection module further comprises a collection plate, the collection plate is detachably connected to the bottom of the shoulder supporting rod, and the collection plate is electrically connected with the strain gauge.
Preferably, the front face of the main control box is symmetrically and fixedly provided with connectors, the connectors are electrically connected with the controller, and the acquisition board is electrically connected with the connectors through wires.
Preferably, the shoulder supporting rod is detachably connected with a protective shell, the protective shell covers the strain gauge and the collecting plate, and a wire outlet is formed in the bottom end of the protective shell.
Preferably, the acquisition board and the protective shell are detachably connected with the shoulder support rod through screws.
Preferably, the top end of the shoulder supporting rod is fixedly connected with a traction rope fixing block, and the traction rope fixing block is used for being connected with a traction rope.
Preferably, the back main body comprises a cross rod, two ends of the cross rod are respectively and fixedly connected with a connecting rod, a plurality of first mounting holes are formed in the connecting rod in a vertical spaced sequential arrangement mode, a plurality of second mounting holes are formed in the bottom of the shoulder supporting rod in a vertical spaced sequential arrangement mode, the second mounting holes are located at the bottom of the protective shell, the first mounting holes are matched with the second mounting holes, and the first mounting holes are detachably connected with the second mounting holes through quick-release pieces.
Preferably, a plurality of third mounting holes are formed in the cross rod in sequence at intervals, a reinforcing plate is fixedly connected to the top surface of the cross rod, a plurality of fourth mounting holes are formed in the reinforcing plate in sequence at intervals, the fourth mounting holes and the third mounting holes are arranged in a vertically corresponding mode, a plurality of fifth mounting holes are formed in the front surface of the main control box, the third mounting holes and the fourth mounting holes are matched with the fifth mounting holes, and the third mounting holes and the fourth mounting holes are detachably connected with the fifth mounting holes through screws.
Preferably, sixth mounting holes are formed in two ends of the cross rod and used for mounting an external wearable device.
Preferably, the front face of the main control box is fixedly connected with two clamping plates from top to bottom in sequence, and the sixth mounting hole is located between the two clamping plates.
The invention discloses the following technical effects: through using back main part and shoulder vaulting pole laminating wearer back and shoulder, and set up the heavy object on the shoulder vaulting pole and detect the module, make overall structure compacter, detect the weight that the module was gathered by the heavy object, and transmit the size that the controller in the master control case can realize the external drive subassembly output torque of intelligent control, the effect has promoted the helping hand of ectoskeleton and has felt, the travelling comfort, the security, through bonding the foil gage at shoulder vaulting pole circular arc middle part region, but the at utmost guarantees the uniformity of data under the different angle of bowing, it is better to compare in the flexible haulage rope position detection stability in below, and avoided using longer cable to connect, improve the rate of accuracy that detects.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a front view of a waist carrying assisting exoskeleton weight detection device of the present invention;
FIG. 2 is a rear view of the waist carrying assisting exoskeleton weight detection apparatus of the present invention;
FIG. 3 is a schematic front view of the main control box of the present invention;
FIG. 4 is a schematic rear structural view of the back body of the present invention;
FIG. 5 is a schematic view of the protective case of the present invention;
FIG. 6 is a schematic diagram of the circuit configuration of the present invention;
wherein, 1, shoulder brace strut; 2. a master control box; 3. a strain gauge; 4. collecting a plate; 5. a connector; 6. a protective shell; 7. an outlet; 8. a traction rope fixing block; 9. a cross bar; 10. a connecting rod; 11. a first mounting hole; 12. a second mounting hole; 13. a quick-release member; 14. a third mounting hole; 15. a reinforcing plate; 16. a fourth mounting hole; 17. a fifth mounting hole; 18. a sixth mounting hole; 19. and (4) clamping the plate.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Referring to fig. 1 to 6, the invention provides a waist carrying assisting exoskeleton weight detection device, which comprises:
the back main body is used for fitting the back of a wearer, two ends of the back main body are detachably connected with shoulder supporting rods 1, the shoulder supporting rods 1 are matched with shoulders of the wearer, the shoulder supporting rods 1 are used for being connected with traction ropes, the back of the back main body is detachably connected with a main control box 2, a controller (not shown in the figure) is arranged in the main control box 2, and the controller is electrically connected with an external driving device (the external driving component is preferably a common driving device of an external skeletal robot in the prior art, and the description is omitted);
two heavy object detect the module, two heavy object detect the module respectively with two shoulder vaulting poles 1 can dismantle the connection, heavy object detect module and controller electric connection, heavy object detect the module and include foil gage 3, foil gage 3 bonds in shoulder vaulting pole 1 circular arc middle part region, owing to at the in-process of bowing, shoulder vaulting pole 1 circular arc middle part region receives the power of direction of bending all the time, therefore the weight of the transported object can better be reflected in the meeting an emergency of this position.
Through using back main part and shoulder vaulting pole 1 laminating wearer back and shoulder, and set up the heavy object detection module on shoulder vaulting pole 1, make overall structure compacter, detect the weight that the module was gathered by the heavy object, and transmit the size that can realize intelligent control external drive subassembly output torque for the controller in the master control case 2, the effect has promoted the helping hand of ectoskeleton and has felt, the travelling comfort, the security, through bonding the foil gage at shoulder vaulting pole 1 circular arc middle part region, but the at utmost guarantees the uniformity of data under the different angle of bowing, it is better to compare in the flexible haulage rope position detection stability in below, and avoided using longer cable to connect, improve the rate of accuracy that detects.
Further optimize the scheme, the heavy object detects the module and still includes gathers board 4, gathers board 4 and can dismantle the connection in 1 bottom of shoulder vaulting pole, gathers board 4 and foil gage 3 electric connection.
The strain of the arc middle area of the shoulder supporting rod 1 is detected through the strain gauge 3, and the output signal of the strain gauge 3 is collected by the collecting plate 4 and sent to the controller.
Further optimize the scheme, main control box 2 openly symmetry fixed mounting has connector 5, and connector 5 is preferred to be the Type-C connector, and connector 5 and controller electric connection gather board 4 and pass through wire and connector 5 electric connection, can realize electric connection or disconnection fast through setting up connector 5.
Further optimize the scheme, can dismantle on shoulder vaulting pole 1 and be connected with protective housing 6, protective housing 6 covers foil gage 3 and gathers board 4, protection foil gage 3 does not receive external damage with gathering board 4, the preferred plastics that elasticity is better of the material of protective housing 6, avoid causing the influence to strain data, outlet 7 has been seted up to 6 bottoms of protective housing, outlet 7 is used for drawing forth the wire of gathering board 4, outlet 7 slightly is less than the wire diameter of gathering board 4, can press the wire firmly on shoulder vaulting pole 1.
Further optimize the scheme, gather board 4 and protective housing 6 and all can dismantle with shoulder vaulting pole 1 through the screw and be connected, convenient to detach protective housing 6 changes or maintains foil gage 3 and gathers board 4.
Further optimize the scheme, 1 top rigid coupling of shoulder vaulting pole has haulage rope fixed block 8, and haulage rope fixed block 8 is used for connecting the haulage rope, and shoulder vaulting pole 1 is arc strides the wearer's shoulder, and the wearer's hand of being convenient for is connected with the haulage rope.
Further optimize the scheme, the back main part includes horizontal pole 9, 9 both ends of horizontal pole rigid coupling respectively have connecting rod 10, vertical interval sequence arrangement has seted up the first mounting hole of a plurality of 11 on the connecting rod 10, vertical interval sequence arrangement has seted up a plurality of second mounting hole 12 in shoulder vaulting pole 1 bottom, institute second mounting hole 12 is located the 6 bottoms of protective housing, first mounting hole 11 and second mounting hole 12 looks adaptation, first mounting hole 11 can be dismantled through quick detach piece 13 with second mounting hole 12 and be connected, quick detach piece 13 is preferred to be quick bolt. .
Cooperate through the first mounting hole 11 of a plurality of and a plurality of second mounting hole 12 and can adjust shoulder vaulting pole 1 height for connecting rod 10, and then can adapt to the wearer of different sizes, improve the accommodation of device, can be simultaneously through quick detachable 13 manually be connected shoulder vaulting pole 1 and connecting rod 10 and break off, convenient equipment and transportation.
Further optimize the scheme, horizontal interval has seted up a plurality of third mounting hole 14 on the horizontal pole 9 in proper order, horizontal pole 9 top surface rigid coupling has reinforcing plate 15, horizontal interval arranges in proper order on reinforcing plate 15 has seted up a plurality of fourth mounting hole 16, fourth mounting hole 16 corresponds the setting from top to bottom with third mounting hole 14, a plurality of fifth mounting hole 17 has openly been seted up to master control case 2, third mounting hole 14 and fourth mounting hole 16 and fifth mounting hole 17 looks adaptation, and third mounting hole 14 and fourth mounting hole 16 pass through the screw and can dismantle with fifth mounting hole 17 and be connected.
Can increase the area of contact of back main part and wearing person's back through setting up reinforcing plate 15, improve the travelling comfort at wearing person's back, set up a plurality of third mounting hole 14 and fourth mounting hole 16 respectively on horizontal pole 9 and reinforcing plate 15 simultaneously, openly set up fifth mounting hole 17 at main control box 2, fifth mounting hole 17 is preferably the screw hole, can adjust main control box 2 height for the back main part according to wearing person's self condition, through setting up back main part and main control box 2 into dismantling the connection, both easy to assemble uses, there is convenient transportation.
In a further optimized scheme, the two ends of the cross rod 9 are provided with sixth mounting holes 18, and the sixth mounting holes 18 are used for mounting an external wearable device.
Further optimize the scheme, the front of the main control box 2 is fixedly connected with two clamping plates 19 from top to bottom in sequence, a sixth installation hole is formed between the two clamping plates 19, the distance between the two clamping plates 19 is matched with the height size of the cross rod 9 and used for clamping the cross rod 9, the back main body and the optimal installation position of the main control box 2 are that the cross rod 9 is located between the two clamping plates 19, when the height needs to be adjusted, the position of the cross rod 9 is moved downwards, a fourth installation hole 16 on the reinforcing plate 15 corresponds to a fifth installation hole 17, and the reinforcing plate is fixed through screws.
The working principle is as follows: firstly, a main control box 2 is arranged at a proper height of a back main body according to the body type condition of a wearer, a shoulder support rod 1 is connected with a connecting rod 10 according to the body type condition of the wearer, then a lead of a collecting plate 4 is connected with a connector 5, a hauling rope is arranged on a hauling rope fixing block 8, an external wearing device is arranged on a sixth mounting hole 18, then the waist of the back-wearing type waist-stretching training device is worn on the waist of the wearer, the shoulder support rod 1 spans the shoulders of the wearer in an arc shape, the hands of the wearer are connected with the hauling rope, the gravity of an object can be effectively transmitted, the load of an upper limb is relieved, when the back-wearing type waist-stretching training device is used, the hauling rope is stressed, the shoulder support rod 1 is positioned on a strain gauge 3, data is detected by the strain gauge 3, signals are input into a controller through the collecting plate 4, the controller intelligently controls the magnitude of torque output by an external driving device, according to the invention, the weight of the transported object is detected, so that the output torque of the driving assembly can be intelligently adjusted, and the power-assisted feeling, the comfort and the safety of a wearer during use are improved; the cable has the advantages of being compact, high in stability, long in service life, concise in wiring and convenient to disassemble. Meanwhile, the data obtained by the invention can be used for evaluating the assistance efficiency of the exoskeleton and the labor intensity of workers.
The circuit connection principle of the strain gauge 3, the acquisition board 4 and the main control box 2 is shown in fig. 6, the strain gauge 3 is connected with the acquisition board 4 and forms an electric bridge with a constant value resistor on the acquisition board 4, a voltage signal is amplified through an amplifying circuit and then is subjected to analog-to-digital conversion by a single chip microcomputer, and then strain gauge data is sent to a controller (shown in the figure as equipment main control) in the main control box 2 in a digital signal mode through a communication circuit. The main control of the device supplies power to the acquisition board 4, and the voltage is adjusted to a proper value to supply power to the acquisition board 4 through a power circuit on the acquisition board 4.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description of the present invention, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
The above-described embodiments are only intended to illustrate the preferred embodiments of the present invention, and not to limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.
Claims (10)
1. The utility model provides a waist transport helping hand ectoskeleton heavy object detection device which characterized in that includes:
the back main body is used for being attached to the back of a wearer, two ends of the back main body are detachably connected with shoulder support rods (1), the shoulder support rods (1) are matched with the shoulders of the wearer, the shoulder support rods (1) are used for being connected with traction ropes, the back of the back main body is detachably connected with a main control box (2), a controller is arranged in the main control box (2), and the controller is electrically connected with an external driving device;
the weight detection module is detachably connected with the shoulder support rods (1), the weight detection module is electrically connected with the controller, the weight detection module comprises strain gauges (3), and the strain gauges (3) are bonded in the middle areas of the circular arcs of the shoulder support rods (1).
2. The waist carrying assisting exoskeleton weight detection device of claim 1, wherein: the heavy object detection module is characterized by further comprising a collection plate (4), wherein the collection plate (4) is detachably connected to the bottom of the shoulder supporting rod (1), and the collection plate (4) is electrically connected with the strain gauge (3).
3. The waist carrying assisting exoskeleton weight detection device of claim 2, wherein: the front face of the main control box (2) is symmetrically and fixedly provided with a connector (5), the connector (5) is electrically connected with the controller, and the collecting plate (4) is electrically connected with the connector (5) through a wire.
4. The waist carrying assisting exoskeleton weight detection device of claim 3, wherein: the shoulder supporting rod (1) is detachably connected with a protective shell (6), the protective shell (6) covers the strain gauge (3) and the collecting plate (4), and a wire outlet (7) is formed in the bottom end of the protective shell (6).
5. The waist carrying assisting exoskeleton weight detection device of claim 4, wherein: the acquisition board (4) and the protective shell (6) are detachably connected with the shoulder support rod (1) through screws.
6. The waist carrying assisting exoskeleton weight detection device of claim 1, wherein: the top end of the shoulder supporting rod (1) is fixedly connected with a traction rope fixing block (8), and the traction rope fixing block (8) is used for being connected with a traction rope.
7. The waist carrying assisting exoskeleton weight detection device of claim 4, wherein: the back main part includes horizontal pole (9), horizontal pole (9) both ends rigid coupling respectively has connecting rod (10), vertical interval sequence arrangement has seted up the first mounting hole of a plurality of (11) on connecting rod (10), the vertical interval sequence arrangement in shoulder vaulting pole (1) bottom has seted up a plurality of second mounting hole (12), and second mounting hole (12) are located protective housing (6) bottom, first mounting hole (11) with second mounting hole (12) looks adaptation, first mounting hole (11) with second mounting hole (12) are through dismantling the connection soon of piece (13).
8. The waist carrying assisting exoskeleton weight detection device of claim 7, wherein: the transverse installation structure is characterized in that a plurality of third installation holes (14) are sequentially formed in the transverse direction of the cross rod (9) at intervals, a reinforcing plate (15) is fixedly connected to the top surface of the cross rod (9), a plurality of fourth installation holes (16) are sequentially formed in the reinforcing plate (15) at intervals in the transverse direction, the fourth installation holes (16) and the third installation holes (14) are vertically arranged in a corresponding mode, a plurality of fifth installation holes (17) are formed in the front of the main control box (2), the third installation holes (14) and the fourth installation holes (16) are matched with the fifth installation holes (17), and the third installation holes (14) and the fourth installation holes (16) are detachably connected with the fifth installation holes (17) through screws.
9. The waist carrying assisting exoskeleton weight detection device of claim 7, wherein: and sixth mounting holes (18) are formed in two ends of the cross rod (9), and the sixth mounting holes (18) are used for mounting an external wearable device.
10. The waist carrying assisting exoskeleton weight detection device of claim 9, wherein: the front face of the main control box (2) is fixedly connected with two clamping plates (19) from top to bottom in sequence, and the sixth mounting hole (18) is located between the two clamping plates (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210555164.5A CN114923548B (en) | 2022-05-19 | 2022-05-19 | Waist transport helping hand ectoskeleton heavy object detection device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210555164.5A CN114923548B (en) | 2022-05-19 | 2022-05-19 | Waist transport helping hand ectoskeleton heavy object detection device |
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| CN114923548A true CN114923548A (en) | 2022-08-19 |
| CN114923548B CN114923548B (en) | 2024-03-22 |
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| US20180228235A1 (en) * | 2017-02-14 | 2018-08-16 | Leroy Truelove, Iii | Shoulder transfer weight support |
| US20180257217A1 (en) * | 2015-09-04 | 2018-09-13 | The Regents Of The University Of Michigan | Load-bearing exoskeleton |
| CN110844833A (en) * | 2019-12-02 | 2020-02-28 | 南京机电职业技术学院 | Heavy object carrying device |
| CN113334353A (en) * | 2021-05-19 | 2021-09-03 | 黄河科技学院 | Electromagnetic braking type arm power-assisted flexible exoskeleton |
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2022
- 2022-05-19 CN CN202210555164.5A patent/CN114923548B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20180257217A1 (en) * | 2015-09-04 | 2018-09-13 | The Regents Of The University Of Michigan | Load-bearing exoskeleton |
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| US20180228235A1 (en) * | 2017-02-14 | 2018-08-16 | Leroy Truelove, Iii | Shoulder transfer weight support |
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| CN113334353A (en) * | 2021-05-19 | 2021-09-03 | 黄河科技学院 | Electromagnetic braking type arm power-assisted flexible exoskeleton |
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| Title |
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| 罗文雪等: "腰部助力外骨骼的背板及其绑缚优化设计", 《机械》, vol. 48, no. 5, 15 May 2021 (2021-05-15), pages 75 - 80 * |
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| CN114923548B (en) | 2024-03-22 |
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